Merge pull request #36 from stevenewald/echavemann/aidan-i2c

I2C Wrapper + Controller

external/nrf52x-base/sdk/nrf5_sdk_16.0.0/integration/nrfx/legacy/nrf_drv_twi.h

@@ -161,9 +161,9 @@ typedef struct
  */
 #define NRF_DRV_TWI_DEFAULT_CONFIG                                               \
 {                                                                                \
-    .frequency          = (nrf_drv_twi_frequency_t)TWI_DEFAULT_CONFIG_FREQUENCY, \
     .scl                = 31,                                                    \
     .sda                = 31,                                                    \
+    .frequency          = (nrf_drv_twi_frequency_t)TWI_DEFAULT_CONFIG_FREQUENCY, \
     .interrupt_priority = TWI_DEFAULT_CONFIG_IRQ_PRIORITY,                       \
     .clear_bus_init     = TWI_DEFAULT_CONFIG_CLR_BUS_INIT,                       \
     .hold_bus_uninit    = TWI_DEFAULT_CONFIG_HOLD_BUS_UNINIT,                    \

include/hal/i2c_controller.hpp

@@ -0,0 +1,15 @@
+#pragma once
+
+namespace edge::aidan
+{
+
+class I2CController 
+{
+public:
+    ~I2CController() = default;
+    static I2CController& get();
+private:
+    I2CController();
+};
+
+} // namespace edge::aidan

include/hal/i2c_wrapper.hpp

@@ -0,0 +1,90 @@
+#pragma once
+
+#include <stdint.h>
+#include "nrf_twi_mngr.h"
+#include "nrf_delay.h"
+
+namespace edge::aidan {
+
+static const uint8_t LSM303AGR_ACC_ADDRESS = 0x19;
+static const uint8_t LSM303AGR_MAG_ADDRESS = 0x1E;
+
+typedef struct {
+    float x_axis;
+    float y_axis;
+    float z_axis;
+} lsm303agr_measurement_t;
+
+// Accel Enums
+typedef enum {
+    STATUS_REG_AUX_A = 0x07,
+    OUT_TEMP_L_A = 0x0C,
+    OUT_TEMP_H_A = 0x0D,
+    INT_COUNTER_REG_A = 0x0E,
+    WHO_AM_I_A = 0x0F,
+    TEMP_CFG_REG_A = 0x1F,
+    CTRL_REG1_A = 0x20,
+    CTRL_REG2_A = 0x21,
+    CTRL_REG3_A = 0x22,
+    CTRL_REG4_A = 0x23,
+    CTRL_REG5_A = 0x24,
+    CTRL_REG6_A = 0x25,
+    REFERENCE_DATACAPTURE_A = 0x26,
+    STATUS_REG_A = 0x27,
+    OUT_X_L_A = 0x28,
+    OUT_X_H_A = 0x29,
+    OUT_Y_L_A = 0x2A,
+    OUT_Y_H_A = 0x2B,
+    OUT_Z_L_A = 0x2C,
+    OUT_Z_H_A = 0x2D,
+    FIFO_CTRL_REG_A = 0x2E,
+    FIFO_SRC_REG_A = 0x2F,
+    INT1_CFG_A = 0x30,
+    INT1_SRC_A = 0x31,
+    INT1_THS_A = 0x32,
+    INT1_DURATION_A = 0x33,
+    INT2_CFG_A = 0x34,
+    INT2_SRC_A = 0x35,
+    INT2_THS_A = 0x36,
+    INT2_DURATION_A = 0x37,
+    CLICK_CFG_A = 0x38,
+    CLICK_SRC_A = 0x39,
+    CLICK_THS_A = 0x3A,
+    TIME_LIMIT_A = 0x3B,
+    TIME_LATENCY_A = 0x3C,
+    TIME_WINDOW_A = 0x3D,
+    ACT_THS_A = 0x3E,
+    ACT_DUR_A = 0x3F,
+} lsm303agr_acc_reg_t;
+
+// Magneto Enums
+typedef enum {
+    OFFSET_X_REG_L_M = 0x45,
+    OFFSET_X_REG_H_M = 0x46,
+    OFFSET_Y_REG_L_M = 0x47,
+    OFFSET_Y_REG_H_M = 0x48,
+    OFFSET_Z_REG_L_M = 0x49,
+    OFFSET_Z_REG_H_M = 0x4A,
+    WHO_AM_I_M = 0x4F,
+    CFG_REG_A_M = 0x60,
+    CFG_REG_B_M = 0x61,
+    CFG_REG_C_M = 0x62,
+    INT_CTRL_REG_M = 0x63,
+    INT_SOURCE_REG_M = 0x64,
+    INT_THS_L_REG_M = 0x65,
+    INT_THS_H_REG_M = 0x66,
+    STATUS_REG_M = 0x67,
+    OUTX_L_REG_M = 0x68,
+    OUTX_H_REG_M = 0x69,
+    OUTY_L_REG_M = 0x6A,
+    OUTY_H_REG_M = 0x6B,
+    OUTZ_L_REG_M = 0x6C,
+    OUTZ_H_REG_M = 0x6D,
+} lsm303agr_mag_reg_t;
+
+uint8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr);
+
+void i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, uint8_t data);
+
+void lsm303agr_init(const nrf_twi_mngr_t* i2c);
+} // namespace edge::aidan

src/hal/i2c_controller.cpp

@@ -0,0 +1,31 @@
+#include "hal/i2c_controller.hpp"
+#include "hal/i2c_wrapper.hpp"
+#include "nrf_drv_twi.h"
+#include "microbit_v2.h"
+#include "nrf_twi.h"
+#include "nrf_twi_mngr.h"
+
+namespace edge::aidan
+{
+static constexpr int QUEUE_SIZE = 1;
+
+NRF_TWI_MNGR_DEF(twi_mngr, QUEUE_SIZE, 0);
+
+I2CController& I2CController::get()
+{
+    static I2CController controller;
+    return controller;
+}
+
+I2CController::I2CController()
+{
+    nrf_drv_twi_config_t i2c_config = NRF_DRV_TWI_DEFAULT_CONFIG;
+    i2c_config.scl = I2C_INTERNAL_SCL;
+    i2c_config.sda = I2C_INTERNAL_SDA;
+    i2c_config.frequency = NRF_DRV_TWI_FREQ_100K;
+    i2c_config.interrupt_priority = 0;
+    nrf_twi_mngr_init(&twi_mngr, &i2c_config);
+    lsm303agr_init(&twi_mngr);
+}
+
+} // namespace edge::aidan

src/hal/i2c_wrapper.cpp

@@ -0,0 +1,71 @@
+#include "hal/i2c_wrapper.hpp"
+#include "nrf_error.h"
+#include "nrf_twi_mngr.h"
+#include "sdk_errors.h"
+
+namespace edge::aidan {
+
+
+NRF_TWI_MNGR_DEF(twi_mngr, 1, 0);
+static const nrf_twi_mngr_t* i2c_manager = &twi_mngr;
+
+uint8_t i2c_reg_read(uint8_t i2c_addr, uint8_t reg_addr)
+{
+    uint8_t rx_buf = 0;
+    nrf_twi_mngr_transfer_t const read_transfer[] = {
+        NRF_TWI_MNGR_WRITE(i2c_addr, &reg_addr, 1, NRF_TWI_MNGR_NO_STOP),
+        NRF_TWI_MNGR_READ(i2c_addr, &rx_buf, 1, NRF_TWI_MNGR_NO_STOP)
+    };
+    ret_code_t result = nrf_twi_mngr_perform(i2c_manager, NULL, read_transfer, 2, NULL);
+    if (result != NRF_SUCCESS)
+    {
+        printf("I2C TRANSACTION FAILED!");
+    }
+    return rx_buf;
+};
+
+void i2c_reg_write(uint8_t i2c_addr, uint8_t reg_addr, uint8_t data)
+{
+    uint16_t rx_buf = (reg_addr << 8) | data;
+    rx_buf = (data << 8) | reg_addr;
+    nrf_twi_mngr_transfer_t const write_transfer[] = {
+        NRF_TWI_MNGR_WRITE(i2c_addr, &rx_buf, 2, NRF_TWI_MNGR_NO_STOP),
+    };
+    ret_code_t result = nrf_twi_mngr_perform(i2c_manager, NULL, write_transfer, 1, NULL);
+    if (result != NRF_SUCCESS) 
+    {
+        printf("I2C transaction failed! Error: %lX\n", result);
+    }
+}
+
+void lsm303agr_init()
+{
+    i2c_reg_write(LSM303AGR_ACC_ADDRESS, CTRL_REG5_A, 0x80);
+    nrf_delay_ms(100); // needs delay to wait for reboot
+
+    // Enable Block Data Update
+    // Only updates sensor data when both halves of the data has been read
+    i2c_reg_write(LSM303AGR_ACC_ADDRESS, CTRL_REG4_A, 0x80);
+
+    // Configure accelerometer at 100Hz, normal mode (10-bit)
+    // Enable x, y and z axes
+    i2c_reg_write(LSM303AGR_ACC_ADDRESS, CTRL_REG1_A, 0x57);
+
+    // ---Initialize Magnetometer---
+
+    // Reboot magnetometer
+    i2c_reg_write(LSM303AGR_MAG_ADDRESS, CFG_REG_A_M, 0x40);
+    nrf_delay_ms(100); // needs delay to wait for reboot
+
+    // Enable Block Data Update
+    // Only updates sensor data when both halves of the data has been read
+    i2c_reg_write(LSM303AGR_MAG_ADDRESS, CFG_REG_C_M, 0x10);
+
+    // Configure magnetometer at 100Hz, continuous mode
+    i2c_reg_write(LSM303AGR_MAG_ADDRESS, CFG_REG_A_M, 0x0C);
+
+    i2c_reg_write(LSM303AGR_ACC_ADDRESS, TEMP_CFG_REG_A, 0xC0);
+}
+
+
+} // namespace edge::aidan